Systems and methods for adjusting medical device

ABSTRACT

A method for adjusting a medical device is provided. The method includes obtaining an initial trajectory of a component of the medical device. The initial trajectory of the component includes a plurality of initial positions. For each of the plurality of initial positions, the method further includes determining whether a collision is likely to occur between a subject and the component according to the initial trajectory of the component. In response to the determination that the collision is likely to occur, the method further includes updating the initial trajectory of the component to determine an updated trajectory of the component.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority of Chinese Application No.201710693821.1 filed on Aug. 14, 2017, the entire contents of which arehereby incorporated by reference.

TECHNICAL FIELD

The present disclosure generally relates to a medical device, and moreparticularly, to systems and methods for adjusting a geometry of themedical device automatically.

BACKGROUND

In the scanning of a medical device, for example, a Cone Beam ComputedTomography (CBCT), in-situ scanning is efficient and precise. However, acollision between a component of the medical device and a patient islikely to occur, which will block the in-situ scanning. Accordingly, itis desirable to avoid the collision between the component and thepatient in the in-situ scanning.

SUMMARY

According to an aspect of the present disclosure, a system is provided.The system may include a storage device storing a set of instructionsand at least one processor in communication with the storage device.When executing the set of instructions, the at least one processor maybe configured to cause the system to: obtain an initial trajectory of acomponent of a medical device, wherein the initial trajectory of thecomponent includes a plurality of initial positions; and for each of theplurality of initial positions, determine whether a collision is likelyto occur between a subject and the component according to the initialtrajectory of the component, and in response to determining that thecollision is likely to occur between the subject and the component,update the initial trajectory of the component to determine an updatedtrajectory of the component.

In some embodiments, to determine whether the collision is likely tooccur between a subject and the component of the medical device, the atleast one processor may be further configured to cause the system todetermine, during a movement of the component, whether the collision islikely to occur between a subject and the component.

In some embodiments, to determine whether the collision is likely tooccur between a subject and the component of the medical device, the atleast one processor may be further configured to cause the system todetermine, before or after a movement of the component, whether thecollision is likely to occur between a subject and the component.

In some embodiments, the at least one processor may be furtherconfigured to cause the system to determine one or more parametersassociated with the updated trajectory of the component, the one or moreparameters including at least one of a velocity, a moving direction, aposition, or an accelerated velocity.

In some embodiments, to update the initial trajectory of the componentto determine the updated trajectory of the component, the at least oneprocessor may be further configured to cause the system to update atleast one of an initial position of the component in the initialtrajectory of the component, or an initial orientation of the componentin the initial trajectory of the component.

According to another aspect of the present disclosure, a system isprovided. The system may include a storage device storing a set ofinstructions and at least one processor in communication with thestorage device. When executing the set of instructions, the at least oneprocessor may be configured to cause the system to: obtain an initialtrajectory of a component of a CBCT device, the component including adetector or a scanning source, wherein the initial trajectory of thecomponent includes a plurality of initial positions; and for each of theplurality of initial positions, determine whether a collision is likelyto occur between a subject and the component according to the initialtrajectory of the component, and in response to the determination thatthe collision is likely to occur between the subject and the component,update the initial trajectory of the component to determine an updatedtrajectory of the component.

In some embodiments, to determine whether the collision is likely tooccur between a subject and the component of the CBCT device, the atleast one processor may be further configured to cause the system todetermine, during a movement of the component, whether the collision islikely to occur between a subject and the component.

In some embodiments, to determine whether the collision is likely tooccur between a subject and the component of the CBCT device, the atleast one processor may be further configured to cause the system todetermine, before or after a movement of the component, whether thecollision is likely to occur between a subject and the component.

According to another aspect of the present disclosure, a system isprovided. The system may include a storage device storing a set ofinstructions and at least one processor in communication with thestorage device. When executing the set of instructions, the at least oneprocessor may be configured to cause the system to: obtain an initialtrajectory of a component of a radiotherapy (RT) device, the componentincluding an irradiation head or an electronic portal imaging device(EPID), wherein the initial trajectory of the component includes aplurality of initial positions; and for each of the plurality of initialpositions, determine whether a collision is likely to occur between asubject and the component according to the initial trajectory of thecomponent, and in response to the determination that the collision islikely to occur between the subject and the component, update theinitial trajectory of the component to determine an updated trajectoryof the component.

In some embodiments, to determine whether the collision is likely tooccur between a subject and the component of the RT device, the at leastone processor may be further configured to cause the system todetermine, during a movement of the irradiation head, whether thecollision is likely to occur between a subject and the component.

In some embodiments, to determine whether the collision is likely tooccur between a subject and the component of the RT device, the at leastone processor may be further configured to cause the system todetermine, before or after a movement of the irradiation head, whetherthe collision is likely to occur between a subject and the component.

In some embodiments, the irradiation head may include a shell, a target,a primary collimator, jaws, or a multi-leaf collimator. The multi-leafcollimator may be configured inside the shell of the irradiation head.To update the initial trajectory of the irradiation head, the at leastone processor may be further configured to cause the system to update aninitial trajectory of at least the shell.

In some embodiments, the multi-leaf collimator may be configure outsidethe shell of the irradiation head. To update the initial trajectory ofthe irradiation head, the at least one processor may be furtherconfigured to cause the system to determine whether the collision islikely to occur between the subject and the multi-leaf collimator.

In some embodiments, to update the initial trajectory of the irradiationhead, the at least one processor may be further configured to cause thesystem to update an initial trajectory of at least the multi-leafcollimator and adjust a beam field defined by the multi-leaf collimator.

According to another aspect of the present disclosure, a method isprovided. The method may be implemented on a system. The system mayinclude at least one processor and a storage device. The method mayinclude: obtaining an initial trajectory of a component of a medicaldevice, wherein the initial trajectory of the component includes aplurality of initial positions; and for each of the plurality of initialpositions, determining whether a collision is likely to occur between asubject and the component according to the initial trajectory of thecomponent, and in response to the determination that the collision islikely to occur between the subject and the component, updating theinitial trajectory of the component to determine an updated trajectoryof the component.

According to another aspect of the present disclosure, a non-transitorycomputer readable medium is provided. The non-transitory computerreadable medium may embody a computer program product that includesinstructions configured to cause a computing system to: obtain aninitial trajectory of a component of a medical device, wherein theinitial trajectory of the component includes a plurality of initialpositions; and for each of the plurality of initial positions, determinewhether a collision is likely to occur between a subject and thecomponent according to the initial trajectory of the component, and inresponse to the determination that the collision is likely to occurbetween the subject and the component, update the initial trajectory ofthe component to determine an updated trajectory of the component.

Additional features will be set forth in part in the description whichfollows, and in part will become apparent to those skilled in the artupon examination of the following and the accompanying drawings or maybe learned by production or operation of the examples. The features ofthe present disclosure may be realized and attained by practice or useof various aspects of the methodologies, instrumentalities andcombinations set forth in the detailed examples discussed below.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is further described in terms of exemplaryembodiments. These exemplary embodiments are described in detail withreference to the drawings. These embodiments are non-limiting exemplaryembodiments, in which like reference numerals represent similarstructures throughout the several views of the drawings, and wherein:

FIGS. 1A and 1B are schematic diagrams illustrating an exemplary systemaccording to some embodiments of the present disclosure;

FIG. 2 is a schematic diagram illustrating an exemplary computing deviceon which the system can be implemented, according to some embodiments ofthe present disclosure;

FIG. 3 is a schematic diagram illustrating exemplary hardware and/orsoftware components of an exemplary mobile device on which the terminalmay be implemented according to some embodiments of the presentdisclosure;

FIG. 4 is a block diagram illustrating an exemplary processing deviceaccording to some embodiments of the present disclosure;

FIG. 5 is a flowchart illustrating an exemplary process forreconstructing an image according to some embodiments of the presentdisclosure;

FIG. 6 is a flowchart illustrating an exemplary process for updating atrajectory of the component according to some embodiments of the presentdisclosure;

FIG. 7A illustrates an exemplary initial geometry of a CBCT according tosome embodiments of the present disclosure;

FIG. 7B illustrates an exemplary updated geometry of a CBCT according tosome embodiments of the present disclosure;

FIG. 8 illustrates an exemplary diagram of a CBCT according to someembodiments of the present disclosure; and

FIGS. 9A through 9D illustrate exemplary position updating of one ormore components of a radiotherapy device according to some embodimentsof the present disclosure.

DETAILED DESCRIPTION

In the following detailed description, numerous specific details are setforth by way of examples in order to provide a thorough understanding ofthe relevant disclosure. However, it should be apparent to those skilledin the art that the present disclosure may be practiced without suchdetails. In other instances, well-known methods, procedures, systems,components, and/or circuitry have been described at a relativelyhigh-level, without detail, in order to avoid unnecessarily obscuringaspects of the present disclosure. Various modifications to thedisclosed embodiments will be readily apparent to those skilled in theart, and the general principles defined herein may be applied to otherembodiments and applications without departing from the spirit and scopeof the present disclosure. Thus, the present disclosure is not limitedto the embodiments shown, but to be accorded the widest scope consistentwith the claims.

The terminology used herein is for the purpose of describing particularexample embodiments only and is not intended to be limiting. As usedherein, the singular forms “a,” “an,” and “the” may be intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprise,”“comprises,” and/or “comprising,” “include,” “includes,” and/or“including,” when used in this specification, specify the presence ofstated features, integers, steps, operations, elements, and/orcomponents, but do not preclude the presence or addition of one or moreother features, integers, steps, operations, elements, components,and/or groups thereof.

It will be understood that the term “system,” “engine,” “unit,”“module,” and/or “block” used herein are one method to distinguishdifferent components, elements, parts, section or assembly of differentlevel in ascending order. However, the terms may be displaced by otherexpression if they achieve the same purpose.

Generally, the word “module,” “unit,” or “block,” as used herein, refersto logic embodied in hardware or firmware, or to a collection ofsoftware instructions. A module, a unit, or a block described herein maybe implemented as software and/or hardware and may be stored in any typeof non-transitory computer-readable medium or other storage device. Insome embodiments, a software module/unit/block may be compiled andlinked into an executable program. It will be appreciated that softwaremodules can be callable from other modules/units/blocks or fromthemselves, and/or may be invoked in response to detected events orinterrupts. Software modules/units/blocks configured for execution oncomputing devices (e.g., CPU 220 illustrated in FIG. 2) may be providedon a computer-readable medium, such as a compact disc, a digital videodisc, a flash drive, a magnetic disc, or any other tangible medium, oras a digital download (and can be initially stored in a compressed orinstallable format that needs installation, decompression, or decryptionprior to execution). Such software code may be stored, partially orfully, on a storage device of the executing computing device, forexecution by the computing device. Software instructions may be embeddedin a firmware, such as an EPROM. It will be further appreciated thathardware modules/units/blocks may be included in connected logiccomponents, such as gates and flip-flops, and/or can be included ofprogrammable units, such as programmable gate arrays or processors. Themodules/units/blocks or computing device functionality described hereinmay be implemented as software modules/units/blocks, but may berepresented in hardware or firmware. In general, themodules/units/blocks described herein refer to logicalmodules/units/blocks that may be combined with othermodules/units/blocks or divided into sub-modules/sub-units/sub-blocksdespite their physical organization or storage. The description may beapplicable to a system, an engine, or a portion thereof.

It will be understood that when a unit, engine, module or block isreferred to as being “on,” “connected to,” or “coupled to,” anotherunit, engine, module, or block, it may be directly on, connected orcoupled to, or communicate with the other unit, engine, module, orblock, or an intervening unit, engine, module, or block may be present,unless the context clearly indicates otherwise. As used herein, the term“and/or” includes any and all combinations of one or more of theassociated listed items.

These and other features, and characteristics of the present disclosure,as well as the methods of operation and functions of the relatedelements of structure and the combination of parts and economies ofmanufacture, may become more apparent upon consideration of thefollowing description with reference to the accompanying drawings, allof which form a part of this disclosure. It is to be expresslyunderstood, however, that the drawings are for the purpose ofillustration and description only and are not intended to limit thescope of the present disclosure. It is understood that the drawings arenot to scale.

Provided herein are systems and methods for adjusting a geometry of amedical device and/or obtaining image data according to the adjustedgeometry. In some embodiments, the medical device may include a computedtomography (CT), a Cone Beam Computed Tomography (CBCT), an emissioncomputed tomography (ECT), a magnetic resonance imaging (MRI), aradiotherapy (RT) device, or the like, or any combination thereof.

The following description is provided to help better understanding CTimage reconstruction methods and/or systems. The term “image” used inthis disclosure may refer to a 2D image, a 3D image, a 4D image, and/orany related image data (e.g., CT data, projection data corresponding tothe CT data). This is not intended to limit the scope the presentdisclosure. For persons having ordinary skills in the art, processesand/or applications in the CT image reconstruction may also beapplicable in other modal imaging systems described above.

Moreover, the system and method in the present disclosure is describedprimarily in regard to avoiding a collision between a component of amedical device and a patient. In some embodiments, the system and themethod may determine whether a collision between the component of themedical device and the patient is likely to occur. In some embodiments,the system and the method may further adjust the geometry of the medicaldevice in responding to the determination that a collision is likely tooccur. Adjusting the geometry of the medical device may include update atrajectory of the component of the medical device.

FIGS. 1A and 1B are schematic diagrams illustrating an exemplary medicalsystem 100 according to some embodiments of the present disclosure. Insome embodiments, the medical system 100 may include a medical device110, a network 120, one or more terminals 130, a processing device 140,and a storage 150.

In some embodiments, the medical device 110 may include a CBCT device110-1. The CBCT device 110-1 may include a gantry 111, a detector 112, atable 114, and a scanning source 115. The gantry 111 may support thedetector 112 and the scanning source 115. A subject may be placed on thetable 114 for scanning. The scanning source 115 may emit a cone beam ofX-rays to a subject. The detector 112 may detect attenuated X-rays. Theattenuated X-rays may be processed and converted to image data.

In some embodiments, the medical device 110 may include a radiotherapy(RT) device 110-2. The RT device 110-2 may include a gantry 116, a table117, and an irradiation head 118, an electronic portal imaging device(EPID) 119. The irradiation head 118 may include a target (e.g., target901 shown in FIG. 9A), a primary collimator (e.g., primary collimator902 shown in FIG. 9A), jaws (e.g., jaws 903 shown in FIG. 9A), amulti-leaf collimator (MLC) (e.g., MLC 904 shown in FIG. 9A), and ashell (e.g., shell 905 shown in FIG. 9A) configured to cover one or morecomponents of the irradiation head. Specifically, the MLC may be insideor outside the shell. For example, the MLC 904 is inside the shell 905as illustrated in FIGS. 9B through 9D. As another example, the MLC 904is outside the shell 905 as illustrated in FIG. 9A. Acceleratedparticles may impinge the target 901 to generate radiation. Theradiation may include photon beam, electron beam, proton beam, etc. Theradiation may be shaped into a desirable beam through the primarycollimator 902, the jaws 903, and the multi-leaf collimator 904. Thedesirable beam may be directed to a subject to carry out a treatmentplan.

In some embodiments, the medical device 110 may include a combination ofa CBCT device and an RT device (also referred to herein as CBCT-RTdevice 110-3). The CBCT-RT device 110-3 may include a gantry 120, atable 121, an irradiation head 122, a detector 123, a scanning source124, an EPID 125, etc. In some embodiments, the CBCT-RT device 110-3 maynot include an EPID. The CBCT-RT device 110-3 may perform scanning andtreatment successively or simultaneously.

The network 120 may include any suitable network that can facilitateexchange of information and/or data for the medical system 100. In someembodiments, one or more components of the medical system 100 (e.g., themedical device 110, the terminal 130, the processing device 140, thestorage 150) may communicate with one or more other components of themedical system 100 via the network 120. For example, the processingdevice 140 may obtain image data from the medical device 110 via thenetwork 120. As another example, the processing device 140 may obtainuser instructions from the terminal 130 via the network 120. The network120 may be and/or include a public network (e.g., the Internet), aprivate network (e.g., a local area network (LAN), a wide area network(WAN))), a wired network (e.g., an Ethernet network), a wireless network(e.g., an 802.11 network, a Wi-Fi network), a cellular network (e.g., aLong Term Evolution (LTE) network), a frame relay network, a virtualprivate network (“VPN”), a satellite network, a telephone network,routers, hubs, witches, server computers, and/or any combinationthereof. Merely by way of example, the network 120 may include a cablenetwork, a wireline network, a fiber-optic network, a telecommunicationsnetwork, an intranet, a wireless local area network (WLAN), ametropolitan area network (MAN), a public telephone switched network(PSTN), a Bluetooth™ network, a ZigBee™ network, a near fieldcommunication (NFC) network, or the like, or any combination thereof. Insome embodiments, the network 120 may include one or more network accesspoints. For example, the network 120 may include wired and/or wirelessnetwork access points such as base stations and/or internet exchangepoints through which one or more components of the medical system 100may be connected to the network 120 to exchange data and/or information.

The terminal(s) 130 may include a mobile device 131, a tablet computer132, a laptop computer 133, or the like, or any combination thereof. Insome embodiments, the mobile device 131 may include a smart home device,a wearable device, a mobile device, a virtual reality device, anaugmented reality device, or the like, or any combination thereof. Insome embodiments, the smart home device may include a smart lightingdevice, a control device of an intelligent electrical apparatus, a smartmonitoring device, a smart television, a smart video camera, aninterphone, or the like, or any combination thereof. In someembodiments, the wearable device may include a bracelet, a footgear,eyeglasses, a helmet, a watch, clothing, a backpack, a smart accessory,or the like, or any combination thereof. In some embodiments, the mobiledevice may include a mobile phone, a personal digital assistance (PDA),a gaming device, a navigation device, a point of sale (POS) device, alaptop, a tablet computer, a desktop, or the like, or any combinationthereof. In some embodiments, the virtual reality device and/or theaugmented reality device may include a virtual reality helmet, virtualreality glasses, a virtual reality patch, an augmented reality helmet,augmented reality glasses, an augmented reality patch, or the like, orany combination thereof. For example, the virtual reality device and/orthe augmented reality device may include a Google Glass™, an OculusRift™, a Hololens™, a Gear VR™. In some embodiments, the terminal(s) 130may be part of the processing device 140.

The processing device 140 may detect whether a collision between acomponent of the medical device 110 and a subject is likely to occur. Inresponding to the determination that the collision between the componentand the subject is likely to occur, the processing device 140 may adjustthe geometry of the medical device 110. For example, the processingdevice 140 may update a trajectory of the component. More particularly,the processing device 140 may update the position of the component,update the orientation of the component, or the like, or a combinationthereof. In some embodiments, the processing device 140 may determine anupdated trajectory of the component. For example, the processing device140 may determine the updated trajectory based on a machine-learningtechnique. More particularly, the processing device 140 may select oneof a plurality of existing trajectories of the component as the updatedtrajectory based on one or more features of the subject.

In some embodiments, the processing device 140 may be a single server ora server group. The server group may be centralized or distributed. Insome embodiments, the processing device 140 may be local or remote fromother components in the medical system 100. The processing device 140may access trajectories of components of the medical device 110 storedin the medical device 110, the terminal 130, and/or the storage 150 viathe network 120. Alternatively, the processing device 140 may bedirectly connected to the medical device 110, the terminal 130 and/orthe storage 150 to access stored trajectories. In some embodiments, theprocessing device 140 may be implemented on a cloud platform to performprocessing. For example, the processing device 140 may be implemented onthe cloud platform to detect whether a collision between a component ofthe medical device 110 and a subject, adjust the geometry of the medicaldevice 110, perform trajectory planning, or the like, or a combinationthereof. Merely by way of example, the cloud platform may include aprivate cloud, a public cloud, a hybrid cloud, a community cloud, adistributed cloud, an inter-cloud, a multi-cloud, or the like, or anycombination thereof. In some embodiments, the processing device 140 maybe implemented by a computing device 200 having one or more componentsas illustrated in FIG. 2.

The storage 150 may store data, instructions, and/or any otherinformation. In some embodiments, the storage 150 may store dataobtained from the terminal 130 and/or the processing device 140. In someembodiments, the storage 150 may store data and/or instructions that theprocessing device 140 may execute or use to perform exemplary methodsdescribed in the present disclosure. In some embodiments, the storage150 may include a mass storage, a removable storage, a volatileread-and-write memory, a read-only memory (ROM), or the like, or anycombination thereof. Exemplary mass storage may include a magnetic disk,an optical disk, a solid-state drive, etc. Exemplary removable storagemay include a flash drive, a floppy disk, an optical disk, a memorycard, a zip disk, a magnetic tape, etc. Exemplary volatileread-and-write memory may include a random access memory (RAM).Exemplary RAM may include a dynamic RAM (DRAM), a double date ratesynchronous dynamic RAM (DDR SDRAM), a static RAM (SRAM), a thyristorRAM (T-RAM), and a zero-capacitor RAM (Z-RAM), etc. Exemplary ROM mayinclude a mask ROM (MROM), a programmable ROM (PROM), an erasableprogrammable ROM (EPROM), an electrically erasable programmable ROM(EEPROM), a compact disk ROM (CD-ROM), and a digital versatile disk ROM,etc. In some embodiments, the storage 150 may be implemented on a cloudplatform. Merely by way of example, the cloud platform may include aprivate cloud, a public cloud, a hybrid cloud, a community cloud, adistributed cloud, an inter-cloud, a multi-cloud, or the like, or anycombination thereof.

In some embodiments, the storage 150 may be connected to the network 120to communicate with one or more other components in the medical system100 (e.g., the processing device 140, the terminal 130). One or morecomponents of the medical system 100 may access the data or instructionsstored in the storage 150 via the network 120. In some embodiments, thestorage 150 may be directly connected to or communicate with one or moreother components of the medical system 100 (e.g., the processing device140, the terminal 130). In some embodiments, the storage 150 may be partof the processing device 140.

FIG. 2 is a schematic diagram illustrating an exemplary computing device200 on which the medical system 100 can be implemented, according tosome embodiments of the present disclosure.

The computing device 200 may be a general purpose computer or a specialpurpose computer. Both may be used to implement a medical system of thepresent disclosure. The computing device 200 may be used to implementany component of the device as described herein. For example, theprocessing device 140 of the medical system 100 may be implemented onthe computing device 200, via its hardware, software program, firmware,or a combination thereof. Although only one such computer is shown forconvenience, the computer functions related to the medical system 100 asdescribed herein may be implemented in a distributed manner on a numberof similar platforms to distribute the processing load.

The computing device 200, for example, may include COMM ports 250connected to and from a network (e.g., the network 120) connectedthereto to facilitate data communications. The computing device 200 mayalso include a central processing unit (CPU) 220, in the form of one ormore processors, for executing program instructions. The exemplarycomputer platform may include an internal communication bus 210, programstorage and data storage of different forms, for example, a disk 270,and a read only memory (ROM) 230, or a random access memory (RAM) 240,for various data files to be processed and/or transmitted by thecomputer. The exemplary computer platform may also include programinstructions stored in the ROM 230, the RAM 240, and/or other type ofnon-transitory storage medium to be executed by the CPU 220. The methodsand/or processes of the present disclosure may be implemented as theprogram instructions. The computing device 200 also includes an I/O 260,supporting input/output between the computer and other componentstherein. The computing device 200 may also receive programming and datavia network communications.

Merely for illustration, only one CPU and/or processor is described inthe computing device 200. However, it should be noted that the computingdevice 200 in the present disclosure may also include multiple CPUsand/or processors, thus operations and/or method steps that areperformed by one CPU and/or processor as described in the presentdisclosure may also be jointly or separately performed by the multipleCPUs and/or processors. For example, the CPU and/or processor of thecomputing device 200 executes both step A and step B. As in anotherexample, step A and step B may also be performed by two different CPUsand/or processors jointly or separately in the computing device 200(e.g., the first processor executes step A, and the second processorexecutes step B; or the first and second processors jointly executesteps A and B).

FIG. 3 is a schematic diagram illustrating exemplary hardware and/orsoftware components of an exemplary mobile device 300 on which theterminal 130 may be implemented according to some embodiments of thepresent disclosure. As illustrated in FIG. 3, the mobile device 300 mayinclude a communication module 310, a display 320, a graphic processingunit (GPU) 330, a central processing unit (CPU) 340, an I/O 350, amemory 360, and a storage 390. In some embodiments, any other suitablecomponent, including but not limited to a system bus or a controller(not shown), may also be included in the mobile device 300. In someembodiments, a mobile operating system 370 (e.g., iOS™, Android™,Windows Phone™) and one or more applications 380 may be loaded into thememory 360 from the storage 390 in order to be executed by the CPU 340.The applications 380 may include a browser or any other suitable mobileapps for receiving and rendering information relating to imageprocessing or other information from the processing device 140. Userinteractions with the information stream may be achieved via the I/O 350and provided to the processing device 140 and/or other components of themedical system 100 via the network 120.

To implement various modules, units, and their functionalities describedin the present disclosure, computer hardware platforms may be used asthe hardware platform(s) for one or more of the elements describedherein. A computer with user interface elements may be used to implementa personal computer (PC) or any other type of work station or terminaldevice. A computer may also act as a server if appropriately programmed.

FIG. 4 is a block diagram illustrating an exemplary processing device140 according to some embodiments of the present disclosure. Theprocessing device 140 may include an obtaining module 410, a collisiondetection module 420, a trajectory updating module 430, a trajectoryschedule module 440 and a reconstruction module 450. The processingdevice 140 may be implemented on various components (e.g., the CPU 220of the computing device 200 illustrated in FIG. 2).

The obtaining module 410 may obtain an initial trajectory of acomponent. In some embodiments, the initial trajectory may be obtainedbased on an initial geometry of the medical device 110. In someembodiments, the initial trajectory may be selected from a plurality ofexisting trajectories. The plurality of existing trajectories may bedetermined according to a machine-learning technique. Alternatively, theplurality of existing trajectories may be a collection of trajectoriesmoved by the component before (e.g., in the previous 30 days). In someembodiments, the initial trajectory may be a default trajectory of thecomponent of the medical device 110.

The collision detection module 420 may determine whether a collision islikely to occur. The collision may be likely to occur between differentobjects. For example, for a CBCT device, the collision may be likely tooccur between a component of the CBCT device (e.g., the scanning source,the detector) and a subject (e.g., a patient, the table, the ground, theceiling). For an RT device, the collision may be likely to occur betweena component of the RT device (e.g., the irradiation head, the EPID) anda subject (e.g., a patient, the table, the ground, the ceiling). For aCBCT-RT device, the collision may be likely to occur between a componentof the CBCT-RT device (e.g., the scanning source, the detector, theEPID, or the irradiation head) and a subject (e.g., a patient, thetable, the ground, the ceiling). In some embodiments, the collisiondetection module 420 may perform the collision detection using dynamiccollision detection techniques (e.g., hierarchical bounding volumestechnique, space decomposition technique), one or more proximitytransducers, or the like, or a combination thereof.

The trajectory updating module 430 may update the initial trajectory ofthe component and determine an updated trajectory. In some embodiments,the trajectory updating module 430 may update the initial trajectoryusing a machine-learning technique. In some embodiments, the trajectoryupdating module 430 may update the initial trajectory by increasing adistance between a component and a subject (e.g., a patient, a table).In some embodiments, the trajectory updating module 430 may update theinitial trajectory by updating an initial orientation of the componenton an initial position.

The trajectory schedule module 440 may determine one or more parametersassociated with the initial (or updated) trajectory of the component.The initial (or updated) trajectory of the component may include aplurality of specific positions. The one or more parameters may ensurethat the component may move from one specific position to a nextspecific position. The trajectory schedule module 440 may determine theone or more parameters associated with the specific positions.Specifically, the parameters may include a velocity, an acceleratedvelocity and/or a moving direction.

The reconstruction module 450 may reconstruct an image based on imagedata. The image data may be obtained according to the initial and/orupdated trajectory. In some embodiments, the reconstruction module 450may perform scale transformation and generate a plurality of virtualprojection images based on the scale transformation. In someembodiments, the reconstruction module 450 may reconstruct an imageaccording to the plurality of virtual projection images.

In some embodiments, one or more modules illustrated in FIG. 4 may beimplemented in at least part of the exemplary system as illustrated inFIGS. 1A and 1B. For example, the collision detection module 420, thetrajectory updating module 430, and the trajectory schedule module 440may be integrated into a console (not shown). Via the console, a usermay determine whether a collision is likely to occur, update atrajectory of a component if the collision is likely to occur, determineone or more parameters according to the updated trajectory of thecomponent, etc. In some embodiments, the console may be implemented viathe processing device 140 and/or the terminal 130.

FIG. 5 is a flowchart illustrating an exemplary process 500 foradjusting a geometry of a medical device according to some embodimentsof the present disclosure. In some embodiments, process 500 may beperformed by or be implemented on the processing device 140 of themedical system 100.

In 510, the obtaining module 410 may obtain an initial trajectory of acomponent. If the medical device is a CBCT device, the component mayinclude a detector (e.g., the detector 112), and/or a scanning source(e.g., the scanning source 115). The scanning source 115 may be an X-raysource. If the medical device is an RT device, the component may includean irradiation head (e.g., the irradiation head 118), and/or anelectronic portal imaging device (EPID) (e.g., EPID 119). If the medicaldevice is a CBCT-RT device, the component may include a detector (e.g.,the detector 123), a scanning source (e.g., the scanning source 124), anirradiation head (e.g., the irradiation head 122), and/or an EPID (e.g.,EPID 125). The initial trajectory may be obtained based on an initialgeometry of the medical device 110. For example, the initial trajectorymay be a default trajectory of the component in the initial geometry.The initial geometry may be determined according to the initial settingsof the medical device 110. As another example, the initial trajectorymay be a historical trajectory (e.g., a trajectory used in the lasttime), which may be the same as or different from the defaulttrajectory.

In some embodiments, the initial trajectory may be a circle, halfcircle, any type of incomplete circle, or other shape of curves. Merelyby way of example, FIG. 7A shows an initial trajectory 705 of thedetector 112 and an initial trajectory 701 of the scanning source 115 ofa CBCT device. The initial trajectory 701 of the scanning source 115 maybe a circle. The initial trajectory 705 of the detector 112 may also bea circle. In some embodiments, the initial trajectory of a component(e.g., the scanning source 115, the detector 112) may include aplurality of initial positions of the component. The plurality ofinitial positions may be distributed on the initial trajectory evenly orunevenly. For example, the initial trajectory 701 in FIG. 7A may includea plurality of initial positions of the scanning source 115, forexample, a first initial position 702, a second initial position 703, athird initial position 704. The plurality of initial positions of thescanning source 115 may be distributed on the initial trajectory 701evenly. As another example, the initial trajectory 705 in FIG. 7A mayinclude a plurality of initial positions of the detector 112, forexample, a first initial position 706, a second initial position 707, athird initial position 708. The plurality of initial positions of thedetector 112 may be distributed on the initial trajectory 705 evenly.Each initial position of the detector 112 may correspond to one initialposition of the scanning source 115. For example, the first initialposition 706 may correspond to the first initial position 702. Asanother example, the second initial position 707 may correspond to thesecond initial position 703. As still another example, the third initialposition 708 may correspond to the third initial position 704. In FIG.7A, an initial position of the scanning source 115, a correspondinginitial position of the detector 112, and the isocenter 709 may bealigned in a straight line. For illustration purposes only, assume thatthe detector 112 is unlikely to collide with the patient or the table114 in the first initial position 706, but the detector 112 is likely tocollide with the patient or the table 114 in the second initial position707 and the third initial position 708. When the collision detectionmodule 420 determines that a collision is likely to occur between thedetector 112 and the patient or the table 114 in the second initialposition 707 or the third initial position 708, the trajectory updatingmodule 430 may update the trajectory of the detector 112 such that thecollision will be avoided. For example, the trajectory updating module430 may increase (or cause the medical device 100 to increase) thedistance between the detector 112 and the isocenter 709 (or the distancebetween the detector 112 and the patient or the table 114) shown in FIG.7B. Accordingly, as shown in FIG. 7B, the detector 112 may move from thesecond initial position 707 to the position 711 (an updated position) toavoid the collision and from the third initial position 708 to theposition 712 (an updated position).

In some embodiments, the component may rotate a circle to scan and/ortreat a target subject to be examined. In some embodiments, thecomponent in each of the initial positions may have an initialorientation relative to a tangent of the initial trajectory at thecorresponding initial position. The initial orientation may be in arange from 0 degree to 90 degrees.

In 520, the collision detection module 420 may determine whether acollision is likely to occur. The collision may be likely to occurbetween different objects, for example, between a component (e.g., thescanning source, the detector, the irradiation head, the EPID) and asubject (e.g., a patient, the table, the ground, the ceiling). Forexample, for the CBCT device 110-1, the collision may be likely to occurbetween the patient and the detector 112, between the patient and thescanning source 115, between the scanning source 115 and the table 114,and/or between the detector 112 and the table 114. As another example,for the RT device 110-2, the collision may be likely to occur betweenthe patient and the irradiation head 118, between the patient and theEPID 119, between the table 117 and the EPID 119, and/or between thetable 117 and the irradiation head 118. As still another example, forthe CBCT-RT device 110-3, the collision may be likely to occur in one ormore situations as mentioned in the CBCT device 110-1 and the RT device110-2.

An irradiation head may include an MLC inside or outside the shell ofthe irradiation head. If the MLC is inside the shell (e.g., asillustrated in FIGS. 9B through 9D), the collision may be likely tooccur between the subject (e.g., the patient, the table) and the shell.Alternatively, if the MLC is outside the irradiation head (e.g., asillustrated in FIG. 9A), the collision may be likely to occur betweenthe subject (e.g., the patient, the table) and the MLC.

In some embodiments, the collision detection may occur during thescanning and/or treatment of a target subject. For example, for a CBCTdevice (e.g., the CBCT device 110-1), when the CBCT device is scanningthe target subject to determine an image of the target subject, thecollision detection module 420 may determine whether a collision islikely to occur between the component (e.g., the scanning source 115,the detector 112) of the CBCT device and a subject (e.g., a patient, thetable 114, the ground, the ceiling) in each of positions of thetrajectory of the component during the movement of the component. If thecollision detection module 420 determines that a collision is likely tooccur between the component and the subject, the trajectory updatingmodule 430 may update the trajectory of the component of the CBCT devicein real time. For a radiotherapy (RT) device (e.g., the RT device110-2), when the RT device is treating the target subject, the collisiondetection module 420 may determine whether a collision is likely tooccur between the component (e.g., the irradiation head 118, the EPID119) of the RT device and a subject (e.g., a patient, the table 117, theground, the ceiling) in each of positions of the trajectory of thecomponent during the movement of the component. If the collisiondetection module 420 determines that a collision is likely to occurbetween the component and the subject, the trajectory updating module430 may update the trajectory of the component of the RT device in realtime. For a CBCT-RT device (e.g., the CBCT-RT device 110-3), during theCBCT-RT device scans and/or treats the target subject, the collisiondetection module 420 may determine whether a collision is likely tooccur between the component (e.g., the irradiation head 122, thedetector 123, the scanning source 124, the EPID 125) of the CBCT-RTdevice and a subject (e.g., a patient, the table 121, the ground, theceiling). If the collision detection module 420 determines that acollision is likely to occur between the component and the subject, thetrajectory updating module 430 may update the trajectory of thecomponent of the CBCT-RT device to avoid the collision during themovement of the component of the CBCT-RT device.

In some embodiments, the collision detection may occur before thescanning and/or treatment of the target subject. For example, for a CBCTdevice (e.g., the CBCT device 110-1), before the CBCT device scans thetarget subject, the collision detection module 420 may determine whethera collision is likely to occur between the component (e.g., the scanningsource 115, the detector 112) and a subject (e.g., a patient, the table114, the ground, the ceiling). If the collision detection module 420determines that a collision is likely to occur between the component anda subject, the trajectory updating module 430 may update the trajectoryof the component of the CBCT to avoid the collision before the CBCTdevice scans the target subject. When the CBCT device begins to scan thetarget subject, the component of the CBCT device that is likely tocollide with the subject may move along an updated trajectory to obtainimage data to determine the image of the target subject. For an RTdevice (e.g., the RT device 110-2), before the RT device treats thetarget subject, the collision detection module 420 may determine whethera collision is likely to occur between the component (e.g., theirradiation head 118, the EPID 119) of the RT device and a subject(e.g., a patient, the table 117, the ground, the ceiling). If thecollision detection module 420 determines that a collision is likely tooccur between the component and a subject, the trajectory updatingmodule 430 may update the trajectory of the component of the RT deviceto avoid the collision before the RT device treats the target subject.When the RT device begins to treat the target subject, the component ofthe RT device that is likely to collide with the subject may move alongan updated trajectory to treat the target subject. For a CBCT-RT device(e.g., the CBCT-RT device 110-3), before the CBCT-RT device scans and/ortreats the target subject, the collision detection module 420 maydetermine whether a collision is likely to occur between the component(e.g., the irradiation head 122, the detector 123, the scanning source124, the EPID 125) of the CBCT-RT device and a subject (e.g., a patient,the table 121, the ground, the ceiling). If the collision detectionmodule 420 determines that a collision is likely to occur between thecomponent and a subject, the trajectory updating module 430 may updatethe trajectory of the component of the CBCT-RT device to avoid thecollision before the CBCT-RT device scans and/or treat the targetsubject. When the CBCT-RT device begins to scan and/or treat the targetsubject, the component of the CBCT-RT device that is likely to collidewith the subject may move along an updated trajectory to detect and/ortreat the target subject.

In some embodiments, the collision detection may occur after thescanning and/or treatment of a target subject. For example, after thescanning and/or treatment of a first target subject, the collisiondetection module 420 may determine whether a collision is likely tooccur between a component of the medical device (e.g., a CBCT device, anRT device, or a CBCT-RT device) and a subject (e.g., a second targetsubject, the table, the ground, the ceiling). The collision detectionmodule 420 may obtain one or more features of the subject (e.g., agender, height, a girth, a size, etc) and a target region of thesubject. Further, the collision detection module 420 may determinewhether a collision is likely to occur between the component of themedical device and the subject based on the one or more features and thetarget region.

In some embodiments, the collision detection module 420 may perform thecollision detection using a dynamic collision detection technique,including, for example, a hierarchical bounding volumes technique orspace decomposition technique. The collision detection module 420 mayuse the dynamic collision detection technique during scanning and/ortreating a target subject, before scanning and/or treating the targetsubject, or after scanning and/or treating the target subject. Forinstance, the collision detection module 420 may determine whether acollision is likely to occur using the hierarchical bounding volumestechnique. The collision detection module 420 may determine a volumeand/or position of an object (e.g., the scanning source, the table, thedetector, the irradiation head, the patient, the ground, the ceiling.)The collision detection module 420 may then assign a correspondingbounding box to the object according to the volume and/or position ofthe object. The bounding box may be with a regular shape (e.g., arectangular cuboid, sphere, cylinder, ellipsoid) or an irregular shape.The collision detection module 420 may further determine whether acollision is likely to occur between the bounding boxes. In response todetermining a collision is likely to occur between the bounding boxes,the collision detection module 420 may determine a collision is likelyto occur between the different objects. On the other hand, in responseto determining a collision is not likely to occur between the boundingboxes, the collision detection module 420 may determine a collision isnot likely to occur between the different objects, and the component maymove according to the initial trajectory through the initial positions.Descriptions regarding the hierarchical bounding volumes technique maybe found in, for example, James T. et al., Transactions on Visualizationand Computer Graphics, 4 (1): 21-36 (1998), which is hereby incorporatedby reference.

In some embodiments, the collision detection may be performed based onone or more proximity transducers. The one or more proximity transducersmay detect signals relating to positions of components and send thesignals to the collision detection module 420. The collision detectionmodule 420 may determine whether a collision is likely to occuraccording to the signals during scanning and/or treating a targetsubject, before scanning and/or treating the target subject, or afterscanning and/or treating the target subject. The proximity transducersmay be mounted on the objects, including the component (e.g., thescanning source, the detector, the irradiation head, the EPID) and/orthe subject (e.g., a patient, the table, the ground, the ceiling). Theone or more proximity transducers may detect a distance betweendifferent objects, for example, between the component (e.g., thescanning source, the detector, the irradiation head, the EPID) of amedical device (e.g., the CBCT device 110-1, the RT device 110-2, theCBCT-RT device 110-3) and the subject (e.g., a patient, the table, theground, the ceiling). The proximity transducers may include a capacitiveproximity transducer, an Eddy-current proximity transducer, a HallEffect proximity transducer, a Doppler Effect proximity transducer, etc.

The collision detection module 420 may determine whether a collision islikely to occur between two objects according to the distance betweenthe two objects and a threshold. The collision detection module 420 maycompare the distance with the threshold. If the collision detectionmodule 420 determines that the distance is less than the threshold, thecollision detection module 420 may determine that a collision is likelyto occur between the two objects. Process 500 may proceed to 530 toupdate the initial trajectory of the component. On the other hand, ifthe collision detection module 420 determines that the distance is notless than the threshold, the collision detection module 420 maydetermine that a collision is not likely to occur between the twoobjects, and process 500 may proceed to step 540 directly to performtrajectory planning. The threshold may include a default value, a valueset automatically by, for example, the collision detection module 420,or a value set manually by a user, or a value adaptively adjusted by themedical system 100. The threshold may be any suitable value between 0 to20.0 centimeters. In some embodiments, the threshold may be from 0 to10.0 centimeters or 10.1 centimeters to 20.0 centimeters. In someembodiments, the threshold may be from 0 to 5 centimeters or from 5centimeters to 10 centimeters. In some embodiments, the threshold may be1 centimeter, 2 centimeters, 3 centimeters, 4 centimeters, etc.

In 530, the trajectory updating module 430 may update the initialtrajectory of the component and determine an updated trajectory. Forillustration purposes, FIG. 7B shows an updated trajectory 710 of thedetector 112. The updated trajectory 710 may include a plurality ofupdated positions of the detector 112, for example, an updated position711, an updated position 712. In some embodiments, the trajectoryupdating module 430 may update the initial trajectory using amachine-learning technique. For example, the trajectory updating module430 may generate a plurality of trajectories of the component based onthe machine-learning technique. The trajectory updating module 430 mayfurther obtain one or more features of an object (e.g., a component, asubject) and select one of the plurality of trajectories as the updatedtrajectory based on the one or more features of the object. As anotherexample, the trajectory updating module 430 may access a plurality ofexisting trajectories of the component (e.g., historical trajectories ofthe component) stored in a storage device (e.g., the storage 150), eachtrajectory corresponding to one or more features of an object (e.g., acomponent, a subject). The trajectory updating module 430 may select oneof the plurality of trajectories as the updated trajectory using themachine-learning technique according to the one or more features of thetarget subject. As for the object being a patient, the one or morefeatures may include a gender, height, a girth, a size, etc.

In some embodiments, the trajectory updating module 430 may update theinitial trajectory by increasing a distance between a subject (e.g., apatient, a table) and the component that is likely to collide with thesubject. For example, during a CBCT scanning, the trajectory updatingmodule 430 may increase a distance between the detector 112 and thepatient or the table 114, and/or between the scanning source 115 and thepatient or the table 114. For illustration purposes, the updatedtrajectory 710 shown in FIG. 7B may be generated by increasing adistance between the detector 112 and the isocenter 709, for example, byadjusting the initial position 707 to the updated position 711,adjusting the initial position 708 to the updated position 712. Asanother example, during radiotherapy by an RT device, the trajectoryupdating module 430 may increase a distance between the irradiation head118 and the patient (or the table 117), or between the EPID 119 and thepatient (or the table 117).

The trajectory updating module 430 may increase the distance between thecomponent and the subject by updating an initial position of thecomponent in the initial trajectory of the component. For example, for aCBCT device, the trajectory updating module 430 may update the initialposition of the component (e.g., the detector 112 and/or the scanningsource 115) of the CBCT device that is likely to collide with thesubject. The updating of the component of the CBCT device may be along astraight line defined by the scanning source 115, the isocenter and thedetector 112 (the radial direction), along the tangent of the initialtrajectory of the detector 112 and/or the scanning source 115, along ahorizontal direction, along a vertical direction, or the like, or acombination thereof. As another example, for an RT device, thetrajectory updating module 430 may update the initial position(s) of thecomponent (e.g., the irradiation head 118 and/or the EPID 119) of the RTdevice that is likely to collide with the subject. The updating of theinitial position of the component of the RT device may be along thestraight line defined by the EPID 119, the isocenter, and theirradiation head 118 (the radial direction), along the tangent of theinitial trajectory of the irradiation head and/or the EPID, along thehorizontal direction, along the vertical direction, or the like, or acombination thereof. For a CBCT-RT device, the trajectory updatingmodule 430 may update the initial position(s) of the component (e.g.,the irradiation head 122, the detector 123, the scanning source 124, theEPID 125) of the CBCT-RT device that is likely to collide with thesubject. The updating of the initial position of the component of theCBCT-RT device may be along the radial direction, along the tangent ofthe initial trajectory of the component, along the horizontal direction,along the vertical direction, or the like, or a combination thereof. Thehorizontal direction may be a direction parallel to the ground. Thevertical direction may be a direction perpendicular to the ground.

Alternatively or additionally, the trajectory updating module 430 mayalso update the initial trajectory by updating an initial orientation ofthe component relative to a tangent on an initial position. For example,for a CBCT device, the trajectory updating module 430 may adjust anorientation of the component (e.g., the detector 112 and/or the scanningsource 115) of the CBCT device that is likely to collide with thesubject. As another example, for an RT device, the trajectory updatingmodule 430 may adjust an orientation of the component (e.g., theirradiation head 118 and/or the EPID 119) of the RT device that islikely to collide with the subject. For instance, for an RT device, ifthe collision may be likely to occur between the EPID 119 and the table117, the trajectory updating module 430 may update the initialtrajectory of the EPID 119. The trajectory updating module 430 mayincrease the distance between the EPID 119 and the table 117 firstly. Ifthe collision is still likely to occur when the distance between the EPID 119 and the table 117 reaches a threshold value, the trajectoryupdating module 430 may adjust the orientation of the EPID. For aCBCT-RT device, the trajectory updating module 430 may adjust anorientation of the component (e.g., the irradiation head 122, thedetector 123, the scanning source 124, the EPID 125) of the CBCT-RTdevice that is likely to collide with the subject. In some embodiments,the trajectory updating module 430 may update the initial trajectory byperforming one or more operations as described in connection with FIG.6.

In 540, the trajectory schedule module 440 may determine one or moreparameters associated with an actual trajectory of the component. Theactual trajectory may be the initial trajectory or the updatedtrajectory. Alternatively, the actual trajectory may be a combination ofpart of the initial trajectory and part of the updated trajectory if thecomponent initially moves along the initial trajectory, but later isadjusted to move along an updated trajectory to avoid a possiblecollision determined by the collision detection module 420.

In some embodiments, if the collision detection module 420 determinesthat the collision is not likely to occur, the actual trajectory may bethe initial trajectory, and the trajectory schedule module 440 may useinitial parameters associated with the initial trajectory, orre-determine the one or more parameters associated with the initialtrajectory of the component. If the collision detection module 420determines that the collision is likely to occur, the actual trajectorymay be the updated trajectory, and the trajectory schedule module 440may determine the one or more parameters associated with the updatedtrajectory of the component. The determined one or more parameters mayinclude a velocity, a moving direction, an accelerated velocity, etc.,associated with the plurality of positions of the actual trajectory ofthe component.

In some embodiments, process 500 may further include step 550 and step560. In 550, the obtaining module 410 may obtain image data along theactual trajectory (the initial trajectory or the updated trajectory).The obtaining module 410 may obtain the actual trajectory of thecomponent and obtain the image data of the scanning according to theactual trajectory. In the motion of the component along the actualtrajectory, the scanning source 115 may emit a cone beam of rays (e.g.,X-rays) to a subject to be examined (e.g., a patient or other subject tobe examined). The detector 112 may detect attenuated rays (e.g.,attenuated X-rays) passing through the subject. The attenuated rays maybe converted to the image data of the scanning.

In 560, the reconstruction module 450 may reconstruct an image based onthe image data. In some embodiments, the updated trajectory may begenerated by updating the position of the detector 112 from an initialposition to a corresponding updated position. As shown in FIGS. 7A and7B, the detector 112 may move from the position 707 (an initialposition) to the position 711 (an updated position) to avoid thecollision. When the detector 112 moves from an initial position to acorresponding updated position, the reconstruction module 450 mayfurther determine a virtual projection image in the initial positioncorresponding to the updated position based on the image data and ascale transformation.

FIG. 8 shows a diagram of a medical device according to some embodimentsof the present disclosure. The medical device may include a CBCT device,an RT device, or a CBCT-RT device. For illustration purposes, take aCBCT device as an example. The point S represents the scanning source115, and the point 0 represents an isocenter. The point D1 representsthe position of the center of the detector 112 in an initial position,and the point D2 represents the position of the center of the detector112 in an updated position. The line segment CE represents the detector112 in the initial position (the length of CE represents the length ofthe detector 112). The line segment HI represents the detector 112 inthe updated position (the length of HI represents the length of thedetector 112). The line segment HI is parallel to the line segment CE.The isocenter refers to the center of rotation of the gantry 111 of themedical device 110, for example, the rotation of the scanning source115, and the detector 112. In some embodiments, the center of a regionof interest of a patient may be aligned with the isocenter. The regionof interest of the patient refers to a region to be scanned. A geometryformed by a point S, point C, point A, point D1, point B, and point E isreferred to herein as the geometry SCAD1BE (also referred to herein asan initial geometry). A geometry formed by a point S, point F, point H,point D2, point I, and point G is referred to herein as the geometrySFHD2IG (also referred to herein as an updated geometry).

In some embodiments, the isocenter, the scanning source 115, and thecenter of the detector 112 may be aligned in a straight line. In someembodiments, the isocenter, the scanning source 115, and the center ofthe detector 112 may be not in a straight line.

As shown in FIG. 8, the isocenter, the scanning source 115, and thecenter of the detector 112 are aligned in a straight line, and the linesegment CE is parallel to the line segment FG. It should be noted thatthe description of the geometry is merely an example, and is notintended to be limiting.

When the position of the detector 112 is on the line segment CE (thelength of CE represents the length of the detector 112), the detector112 may detect attenuated rays corresponding to the line segment CE.After the position of the detector 112 is updated from the line segmentCE to the line segment HI, the attenuated rays received by the detector112 are limited by the shape S-H-I. Thus, when generating a virtualprojection image on the initial position (i.e., line segment CE), thedetector 112 may provide ray-information corresponding to the linesegment AB and may not provide ray-information corresponding to the linesegments CA and BE. Accordingly, the virtual projection image on theinitial position may be scaled. For example, if the length of SD1 is afirst value, L1, e.g., 140 cm, the length of SD2 is a second value, L2,e.g., 145 cm, the length of the detector 112 (i.e., the length of CEand/or HI) is a third value L3, e.g., 40 cm, the virtual projectionimage may be scaled as L3*L1/L2, e.g., 40*140/145.

In some embodiments, the reconstruction module 450 may interpolateray-information corresponding to the line segments CA and BE based onthe ray-information corresponding to the line segment AB. The virtualprojection image may be determined based on the ray-informationcorresponding to the line segment AB and the interpolatedray-information corresponding to the line segments CA and BE. In someembodiments, the reconstruction module 450 may reconstruct an imageaccording to the plurality of virtual projection images obtained asdescribed above. The reconstructed image may be a 3D image.

It should be noted that the above description is merely provided for thepurposes of illustration, and not intended to limit the scope of thepresent disclosure. For persons having ordinary skills in the art,multiple variations or modifications may be made under the teachings ofthe present disclosure. However, those variations and modifications donot depart from the scope of the present disclosure.

In some embodiments, step 520 and step 530 of the process 500 may beperformed according to an exemplary process for updating a trajectory ofa component of a medical device illustrated in FIG. 6. In someembodiments, process 600 may be performed by or be implemented on theprocessing device 140 of the medical system 100.

In 605, the collision detection module 420 may determine whether acollision between a component of the medical device 110 and a subject islikely to occur. If the collision detection module 420 determines that acollision is likely to occur between a component of the medical device110 and a subject, process 600 may proceed to step 610. On the otherhand, if the detection module 420 determines that a collision isunlikely to occur between a component of the medical device 110 and asubject, process 600 may end. The subject may include a patient, anorgan, tissue, a phantom, a table, ground, a ceiling, etc. For the CBCTdevice 110-1, the component may include the detector 112, the scanningsource 115, etc. For the RT device 110-2, the component may include anirradiation head 118, the EPID 119, etc. For a CBCT-RT device 110-3, thecomponent may include the irradiation head 122, the detector 123, thescanning source 124, the EPID 125. The irradiation head 118 or theirradiation head 122 may include a shell 905, a target 901, a primarycollimator 902, jaws 903, a multi-leaf collimator (MLC) 904. In someembodiments, the MLC 904 may be outside the irradiation head asillustrated in FIG. 9A. In some embodiments, the MLC 904 may be insidethe irradiation head as illustrated in FIGS. 9B through 9D. When the MLC904 is configured outside the irradiation head (i.e., configured outsidethe shell 905 of the irradiation head), the collision detection module420 may determine whether the MLC 904 may collide with the subject(e.g., a patient or the table). When the MLC 904 is inside theirradiation head, the collision detection module 420 may determinewhether the shell 905 of the irradiation head may collide with thesubject (e.g., a patient or the table).

In some embodiments, the collision detection module 420 may determinewhether a collision is likely to occur during imaging and/or treatmentof the medical device 110, for example, during a movement of thecomponent of the medical device 110. In some embodiments, the collisiondetection module 420 may determine whether a collision is likely tooccur before imaging and/or treatment of the medical device 110. In someembodiments, the collision detection module 420 may determine whether acollision is likely to occur after imaging and/or treatment of themedical device 110.

In 610, the trajectory updating module 430 may initialize a distancebetween the component and an isocenter (e.g., the isocenter 709) and anorientation of the component. The distance may be marked as D, and theorientation may be marked as A.

In 615, the trajectory updating module 430 may set the iteration numberfor distance of the component, N1, as “0.”

In 620, the trajectory updating module 430 may update the distancebetween the component and the isocenter 709. The distance between thecomponent and the isocenter 709 may be updated by adding a distanceincrement (represented by i), i.e., D1=D1+i. The distance increment maybe set automatically by, for example, the trajectory updating module 430or manually by a user. The value of the distance increment may be anysuitable value from 0 to 5.0 centimeters or larger than 5.0 centimeters.In some embodiments, the value of the distance increment may be a valuefrom 0.1 centimeters to 1.0 centimeter, from 1.1 centimeters to 2.0centimeters, from 2.1 centimeters to 3.0 centimeters, 3.1 centimeters to4.0 centimeters, 4.1 centimeters to 5.0 centimeters Accordingly, theiteration number for distance, N1, may be updated by adding “1,” i.e.,N1=N1+1.

In some embodiments, the trajectory updating module 430 may update thedistance by updating an initial position of the component in the initialtrajectory of the component. For the CBCT device, the trajectoryupdating module 430 may update an initial position of the detector 112and/or the scanning source 115 along any direction, for example, along astraight line defined by the scanning source 115, the isocenter and thedetector 112 (the radial direction), along the tangent of the initialtrajectory of the detector 112 and/or scanning source 115, and/or alonga horizontal direction or a vertical direction.

For the RT device, the trajectory updating module 430 may update aninitial position of the irradiation head and/or the EPID in thecorresponding initial trajectory of the irradiation head and/or theEPID. For the CBCT-RT device, the trajectory updating module 430 mayupdate an initial position of the scanning source, the detector, theirradiation head, and/or the EPID in the corresponding initialtrajectory of the component. For the RT device and/or the CBCT-RTdevice, the irradiation head of device may include an MLC. In someembodiments, the MLC 904 may be configured outside the shell 905 of anirradiation head (e.g., the irradiation head 118, the irradiation head122), as illustrated in FIG. 9A. In FIG. 9A, the target 901, the primarycollimator 902, and the jaws 903 are configured inside the shell 905,while the MLC 904 is configured outside the shell 905. Referring to theleft side of FIG. 9A, if a collision is likely to occur between asubject and the irradiation head, the collision may be likely to occurbetween the subject and the MLC 904. Accordingly, the trajectoryupdating module 430 may update an initial position of the MLC 904 in theinitial trajectory of the MLC 904. Referring to FIG. 9A, compared theleft side of FIG. 9A with the right side of FIG. 9A, only the positionof the MLC 904 is updated, while the positions of the shell 905 and thecomponents within the shell 905 may be maintained. In some embodiments,when the MLC is outside the shell, both the shell and the MLC may belikely to collide with a subject, therefore, the position of the MLC andthe position of the shell may need to be updated to avoid the collision.

In some embodiments, the MLC 904 may be configured inside the shell 905of the irradiation head (e.g., the irradiation head 118, the irradiationhead 122), as illustrated in FIGS. 9B through 9D. In FIGS. 9B through9D, the target 901, the primary collimator 902, the jaws 903, and theMLC 904 are configured inside the shell 905.

If a collision is likely to occur between a subject and the irradiationhead, the collision may be likely to occur between the subject and theshell 905. Accordingly, the trajectory updating module 430 may update aninitial position of the shell 905, while the positions of the componentswithin the shell 905 (e.g., the target 901, the primary collimator 902,the jaws 903, the MLC 904) may be or not be updated. For example, whenthe space between the shell 905 and the MLC is large enough to avoid thecollision between the shell 905 and the subject, the trajectory updatingmodule 430 may merely update an initial position of the shell 905 in theinitial trajectory of the shell 905 and may not update positions of thecomponents within the shell 905 (e.g., the target 901, the primarycollimator 902, the jaws 903, and the MLC 904), as shown in FIG. 9B. Asanother example, the trajectory updating module 430 may update aninitial position of the shell 905 in the initial trajectory of the shell905, and also update at least one position of the components within theshell 905 (e.g., the target 901, the primary collimator 902, the jaws903, or the MLC 904). For instance, referring to FIG. 9C, the positionof the target 901 remains unchanged, and the trajectory updating module430 may update an initial position of the shell 905, the primarycollimator 902, the jaws 903, and the MLC 904 in the correspondinginitial trajectory of the shell 905, the primary collimator 902, thejaws 903, and the MLC 904. The relative positions between any two of theprimary collimator 902, the jaws 903, and the MLC 904 may be or not bechanged. FIG. 9C shows the updating of positions of the shell 905, theprimary collimator 902, the jaws 903, and the MLC 904. It should benoted that it is merely an example, and is not intended to be limiting.In some embodiments, the trajectory updating module 430 may only updatethe positions of the shell 905 and the MLC 904. In some embodiments, thetrajectory updating module 430 may only update the positions of theshell 905, the MLC 904, and the jaws 903.

In some embodiments, the trajectory updating module 430 may update aninitial position of the shell 905, the target 901, the primarycollimator 902, the jaws 903, and the MLC 904, as shown in FIG. 9D. Therelative positions between the target 901, the primary collimator 902,the jaws 903, and the MLC 904 may be or not be changed. It should benoted that, if the position of the primary collimator 902, the jaws 903,or the MLC 904 changes (as illustrated in FIGS. 9C and 9D), the aperturedefined by the primary collimator 902, the jaws 903, or the MLC 904 mayalso be accordingly and proportionally changed to make a treatment planimplemented as the former. For example, the trajectory updating module430 may change a beam field defined by the MLC 904.

In 625, the trajectory updating module 430 may determine whether theupdated distance is greater than a first threshold (represented bythr1). The first threshold, thr1, may be determined based on thefarthest position of the component away from the isocenter that thecomponent can achieve. In some embodiments, the farthest position of thecomponent away from the isocenter may be determined according to thephysical construction of the component. In some embodiments, thefarthest position of the component away from the isocenter may bedetermined manually by a user. In 625, the trajectory updating module430 may also determine whether the updated iteration number fordistance, N1, is greater than a second threshold (represented by thr2).In some embodiments, the second threshold may be a predetermined value,e.g., 5, 10, 15, 20. In some embodiments, the second threshold may bedetermined by the trajectory updating module 430.

In responding to the determination that the updated distance, D1, is notgreater than the first threshold and the updated number of distanceiteration, N1, is not greater than the second threshold, process 600 mayproceed to step 630. In 630, the collision detection module 420 maydetermine whether the collision is still likely to occur. If thecollision detection module 420 determines that the collision is stilllikely to occur, process 600 may loop back to step 620 to update thedistance between the component and the isocenter. For example, process600 may update the distance between the component and the isocenter byadding a distance increment. Accordingly, the iteration number fordistance may be then added by 1. To facilitate describing the process,in 620, the distance increment in different iterations is represented bythe same “i.” It should be noted that, in some embodiments, the distanceincrement added in each iteration may be the same. In some embodiments,the distance increment added in each iteration may be different. Process600 may then perform operations described in connection with step 625and step 630. On the other hand, if the collision detection module 420determines that the collision is not likely to occur, process 600 mayend in 665.

In responding to the determination that the updated distance, D1, isgreater than the first threshold or the updated iteration number fordistance, N1, is greater than the second threshold, process 600 mayproceed to step 635. In 635, the trajectory updating module 430 may setthe distance between the component and the isocenter 709 as the firstthreshold. In 635, the trajectory updating module 430 may further setthe number of orientation iteration(s), N2, as “0.”

In 640, the collision detection module 420 420 may determine whether thecollision is still likely to occur. If the collision detection module420 determines that the collision is not likely to occur, process 600may end in 665. On the other hand, if the collision detection module 420determines that the collision is still likely to occur, process 600 mayproceed to step 645.

In 645, the trajectory updating module 430 may determine an updatedorientation of the component. The orientation refers to an angle of thecomponent relative to a tangent of the trajectory at the correspondingposition of the component. The orientation may be updated by adding anorientation increment (represented by j), i.e., A=A+j. The orientationincrement, j, may be set automatically by, for example, the trajectoryupdating module 430 or manually by a user. In some embodiments, thevalue of the orientation increment may be any suitable value from 0 to90 degrees. In some embodiments, the value of the orientation incrementmay be from 0.1 degree to 10 degrees, from 10.1 degree to 20 degrees,from 20.1 degree to 30 degrees, from 30.1 degree to 40 degrees, from40.1 degree to 50 degrees, from 50.1 degree to 60 degrees, from 60.1degree to 70 degrees, from 70.1 degree to 80 degrees, from 80.1 degreeto 90 degrees. Accordingly, the number of orientation iteration may beupdated by adding “1,” i.e., N2=N2+1.

In 650, the trajectory updating module 430 may determine whether theupdated orientation is greater than a third threshold (represented bythr3). The third threshold may be determined based on the largestorientation of the component. In some embodiments, the largestorientation of the component may be determined according to the physicalconstruction of the component. Alternatively or additionally, thelargest orientation of the component may be determined manually by auser. For example, the third threshold may be determined as 90 degrees.In 650, the trajectory updating module 430 may also determine whetherthe updated iteration number for orientation, N2, is greater than aforth threshold (represented by thr4). In some embodiments, the forththreshold may be a predetermined value, e.g., 5, 10, 15, or 20. In someembodiments, the forth threshold may be determined automatically by thetrajectory updating module 430.

In responding to the determination that the updated orientation is notgreater than the third threshold and the updated number of orientationiteration is not greater than the forth threshold, process 600 mayproceed to step 655 and determine whether the collision is still likelyto occur. If the collision detection module 420 determines that thecollision is still likely to occur, process 600 may loop back to step645 to update the orientation of the component. For example, process 600may update the orientation of the component by adding an orientationincrement. Accordingly, the iteration number for orientation may be thenadded by “1.” To facilitate describing the process, in 645, theorientation increment in different iterations is presented by the same“j.” It should be noted that, in some embodiments, the orientationincrement added in each iteration may be the same. In some embodiments,the orientation increment added in each iteration may be different.Process 600 may then perform operations described in connection withsteps 650 and 655. On the other hand, if the collision detection module420 determines that the collision is not likely to occur, process 600may end in step 665.

In responding to the determination that the updated orientation isgreater than the third threshold and/or the updated number oforientation iteration is greater than the forth threshold, process 600may proceed to step 660. In 660, the trajectory updating module 430 mayset the orientation as the third threshold. Then process 600 proceeds tostep 665 and end.

It should be noted that the above description is merely provided for thepurposes of illustration, and not intended to limit the scope of thepresent disclosure. For persons having ordinary skills in the art,multiple variations or modifications may be made under the teachings ofthe present disclosure. However, those variations and modifications donot depart from the scope of the present disclosure. For example, in635, the trajectory updating module 430 may not set the distance betweenthe component and the isocenter to be the first threshold. Thetrajectory updating module 430 may set the distance to be the initialdistance between the component and the isocenter. As another example, in660, the trajectory updating module 430 may not set the orientation ofthe component to be the third threshold. The trajectory updating module430 may set the orientation to be the initial orientation of thecomponent. In some embodiments, the trajectory updating module 430 mayfirst adjust the orientation of the component, and then adjust thedistance between the component and the isocenter. In some embodiments,the trajectory updating module 430 may adjust the orientation of thecomponent and the distance between the component and the isocenter,simultaneously. In some embodiments, steps 610 and 615 may be performedbefore step 605.

Having thus described the basic concepts, it may be rather apparent tothose skilled in the art after reading this detailed disclosure that theforegoing detailed disclosure is intended to be presented by way ofexample only and is not limiting. Various alterations, improvements, andmodifications may occur and are intended to those skilled in the art,though not expressly stated herein. These alterations, improvements, andmodifications are intended to be suggested by this disclosure and arewithin the spirit and scope of the exemplary embodiments of thisdisclosure.

Moreover, certain terminology has been used to describe embodiments ofthe present disclosure. For example, the terms “one embodiment,” “anembodiment,” and/or “some embodiments” mean that a particular feature,structure or characteristic described in connection with the embodimentis included in at least one embodiment of the present disclosure.Therefore, it is emphasized and should be appreciated that two or morereferences to “an embodiment” or “one embodiment” or “an alternativeembodiment” in various portions of this specification are notnecessarily all referring to the same embodiment. Furthermore, theparticular features, structures or characteristics may be combined assuitable in one or more embodiments of the present disclosure.

Further, it will be appreciated by one skilled in the art, aspects ofthe present disclosure may be illustrated and described herein in any ofa number of patentable classes or context including any new and usefulprocess, machine, manufacture, or composition of matter, or any new anduseful improvement thereof. Accordingly, aspects of the presentdisclosure may be implemented entirely hardware, entirely software(including firmware, resident software, micro-code, etc.) or combiningsoftware and hardware implementation that may all generally be referredto herein as a “unit,” “module,” or “system.” Furthermore, aspects ofthe present disclosure may take the form of a computer program productembodied in one or more computer readable media having computer readableprogram code embodied thereon.

A computer readable signal medium may include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal may takeany of a variety of forms, including electro-magnetic, optical, or thelike, or any suitable combination thereof. A computer readable signalmedium may be any computer readable medium that is not a computerreadable storage medium and that may communicate, propagate, ortransport a program for use by or in connection with an instructionexecution system, apparatus, or device. Program code embodied on acomputer readable signal medium may be transmitted using any appropriatemedium, including wireless, wireline, optical fiber cable, RF, or thelike, or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of thepresent disclosure may be written in any combination of one or moreprogramming languages, including an object-oriented programming languagesuch as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB. NET,Python or the like, conventional procedural programming languages, suchas the “C” programming language, Visual Basic, Fortran 2103, Perl, COBOL2102, PHP, ABAP, dynamic programming languages such as Python, Ruby andGroovy, or other programming languages. The program code may executeentirely on the user's computer, partly on the user's computer, as astand-alone software package, partly on the user's computer and partlyon a remote computer or entirely on the remote computer or server. Inthe latter scenario, the remote computer may be connected to the user'scomputer through any type of network, including a local area network(LAN) or a wide area network (WAN), or the connection may be made to anexternal computer (for example, through the Internet using an InternetService Provider) or in a cloud computing environment or offered as aservice such as a Software as a Service (SaaS).

Furthermore, the recited order of processing elements or sequences, orthe use of numbers, letters, or other designations therefore, is notintended to limit the claimed processes and methods to any order exceptas may be specified in the claims. Although the above disclosurediscusses through various examples what is currently considered to be avariety of useful embodiments of the disclosure, it is to be understoodthat such detail is solely for that purpose, and that the appendedclaims are not limited to the disclosed embodiments, but, on thecontrary, are intended to cover modifications and equivalentarrangements that are within the spirit and scope of the disclosedembodiments. For example, although the implementation of variouscomponents described above may be embodied in a hardware device, it mayalso be implemented as a software only solution, for example, aninstallation on an existing server or mobile device.

Similarly, it should be appreciated that in the foregoing description ofembodiments of the present disclosure, various features are sometimesgrouped together in a single embodiment, figure, or description thereoffor the purpose of streamlining the disclosure aiding in theunderstanding of one or more of the various inventive embodiments. Thismethod of disclosure, however, is not to be interpreted as reflecting anintention that the claimed subject matter requires more features thanare expressly recited in each claim. Rather, inventive embodiments liein less than all features of a single foregoing disclosed embodiment.

In some embodiments, the numbers expressing quantities or propertiesused to describe and claim certain embodiments of the application are tobe understood as being modified in some instances by the term “about,”“approximate,” or “substantially.” For example, “about,” “approximate,”or “substantially” may indicate ±20% variation of the value itdescribes, unless otherwise stated. Accordingly, in some embodiments,the numerical parameters set forth in the written description andattached claims are approximations that may vary depending upon thedesired properties sought to be obtained by a particular embodiment. Insome embodiments, the numerical parameters should be construed in lightof the number of reported significant digits and by applying ordinaryrounding techniques. Notwithstanding that the numerical ranges andparameters setting forth the broad scope of some embodiments of theapplication are approximations, the numerical values set forth in thespecific examples are reported as precisely as practicable.

Each of the patents, patent applications, publications of patentapplications, and other material, such as articles, books,specifications, publications, documents, things, and/or the like,referenced herein is hereby incorporated herein by this reference in itsentirety for all purposes, excepting any prosecution file historyassociated with same, any of same that is inconsistent with or inconflict with the present document, or any of same that may have alimiting affect as to the broadest scope of the claims now or laterassociated with the present document. By way of example, should there beany inconsistency or conflict between the description, definition,and/or the use of a term associated with any of the incorporatedmaterial and that associated with the present document, the description,definition, and/or the use of the term in the present document shallprevail.

In closing, it is to be understood that the embodiments of theapplication disclosed herein are illustrative of the principles of theembodiments of the application. Other modifications that may be employedmay be within the scope of the application. Thus, by way of example, butnot of limitation, alternative configurations of the embodiments of theapplication may be utilized in accordance with the teachings herein.Accordingly, embodiments of the present application are not limited tothat precisely as shown and described.

I claim:
 1. A system, comprising: a storage device storing a set ofinstructions; and at least one processor in communication with thestorage device, wherein when executing the set of instructions, the atleast one processor is configured to cause the system to: obtain aninitial trajectory of a component of a medical device, wherein theinitial trajectory of the component includes a plurality of initialpositions, at least one of the plurality of initial positions of thecomponent and a center of region of interest of a subject are arrangedat an initial distance, and an isocenter being configured to be alignedwith the center of region of interest of the subject; and for each ofthe plurality of initial positions, determine whether a collision islikely to occur between the subject and the component according to theinitial trajectory of the component, and in response to thedetermination that the collision is likely to occur between the subjectand the component, update the initial trajectory of the component toadjust the initial distance and an initial orientation of the componentin the initial trajectory of the component to determine an updatedtrajectory of the component.
 2. The system of claim 1, wherein todetermine whether the collision is likely to occur between the subjectand the component, the at least one processor is further configured tocause the system to: determine, during a movement of the component,whether the collision is likely to occur between the subject and thecomponent.
 3. The system of claim 1, wherein to determine whether thecollision is likely to occur between the subject and the component, theat least one processor is further configured to cause the system to:determine, before or after a movement of the component, whether thecollision is likely to occur between the subject and the component. 4.The system of claim 1, wherein the at least one processor is furtherconfigured to cause the system to: determine one or more parametersassociated with the updated trajectory of the component, the one or moreparameters including at least one of a velocity, a moving direction, aposition, or an accelerated velocity.
 5. The system of claim 1, whereinto update the initial trajectory of the component to determine theupdated trajectory of the component, the at least one processor isfurther configured to cause the system to: update at least one of theplurality of initial positions of the component in the initialtrajectory of the component.
 6. A system, comprising: a storage devicestoring a set of instructions; and at least one processor incommunication with the storage device, wherein when executing the set ofinstructions, the at least one processor is configured to cause thesystem to: obtain an initial trajectory of a component of a Cone BeamComputed Tomography device, the component including a detector or ascanning source, wherein the initial trajectory of the componentincludes a plurality of initial positions, at least one of the pluralityof initial positions of the component and a center of region of interestof a subject are arranged at an initial distance, and an isocenter beingconfigured to be aligned with the center of region of interest of thesubject; and for each of the plurality of initial positions, determinewhether a collision is likely to occur between the subject and thecomponent according to the initial trajectory of the component, and inresponse to the determination that the collision is likely to occurbetween the subject and the component, update the initial trajectory ofthe component to adjust the initial distance and an initial orientationof the component in the initial trajectory of the component to determinean updated trajectory of the component.
 7. The system of claim 6,wherein to determine whether the collision is likely to occur betweenthe subject and the component, the at least one processor is furtherconfigured to cause the system to: determine, during a movement of thecomponent, whether the collision is likely to occur between the subjectand the component.
 8. The system of claim 6, wherein to determinewhether the collision is likely to occur between the subject and thecomponent, the at least one processor is further configured to cause thesystem to: determine, before or after a movement of the component,whether the collision is likely to occur between the subject and thecomponent.
 9. A system, comprising: a non-transitory storage mediumstoring a set of instructions; and at least one processor incommunication with the non-transitory storage medium, wherein whenexecuting the set of instructions, the at least one processor isconfigured to cause the system to: obtain an initial trajectory of acomponent of a radiotherapy (RT) device, the component including anirradiation head or an electronic portal imaging device (EPID), whereinthe initial trajectory of the component includes a plurality of initialpositions, at least one of the plurality of initial positions of thecomponent and a center of region of interest of a subject are arrangedat an initial distance, and an isocenter being configured to be alignedwith the center of region of interest of the subject; and for each ofthe plurality of initial positions, determine whether a collision islikely to occur between the subject and the component according to theinitial trajectory of the component, and in response to thedetermination that the collision is likely to occur between the subjectand the component, update the initial trajectory of the component toadjust including the initial distance and an initial orientation of thecomponent in the initial trajectory of the component to determine anupdated trajectory of the component.
 10. The system of claim 9, whereinto determine whether the collision is likely to occur between thesubject and the component, the at least one processor is furtherconfigured to cause the system to: determine, during a movement of theirradiation head, whether the collision is likely to occur between thesubject and the component.
 11. The system of claim 9, wherein todetermine whether the collision is likely to occur between the subjectand the component, the at least one processor is further configured tocause the system to: determine, before or after a movement of theirradiation head, whether the collision is likely to occur between asubject and the component.
 12. The system of claim 9, wherein theirradiation head includes a shell and a multi-leaf collimator configuredinside the shell of the irradiation head, and to update the initialtrajectory of the irradiation head, the at least one processor isfurther configured to cause the system to: update an initial trajectoryof at least the shell.
 13. The system of claim 9, wherein theirradiation head includes a shell a multi-leaf collimator configuredoutside the shell of the irradiation head, and to determine whether thecollision is likely to occur, the at least one processor is furtherconfigured to cause the system to: determine whether the collision islikely to occur between the subject and the multi-leaf collimator. 14.The system of claim 13, wherein to update the initial trajectory of theirradiation head, the at least one processor is further configured tocause the system to: update an initial trajectory of at least themulti-leaf collimator and adjust a beam field defined by the multi-leafcollimator.
 15. A method implemented on a system, the system includingat least one processor and a storage device, the method comprising:obtaining an initial trajectory of a component of a medical device,wherein the initial trajectory of the component includes a plurality ofinitial positions, at least one of the plurality of initial positions ofthe component and a center of region of interest of a subject arearranged at an initial distance, and an isocenter being configured to bealigned with the center of region of interest of the subject; and foreach of the plurality of initial positions, determining whether acollision is likely to occur between the subject and the componentaccording to the initial trajectory of the component, and in response tothe determination that the collision is likely to occur between thesubject and the component, updating the initial trajectory of thecomponent to adjust the initial distance and an initial orientation ofthe component in the initial trajectory of the component to determine anupdated trajectory of the component.
 16. The system of claim 15, whereinto determine whether the collision is likely to occur between thesubject and the component comprises: determining, during a movement ofthe component whether the collision is likely to occur between thesubject and the component.
 17. The system of claim 15, wherein todetermine whether the collision is likely to occur between the subjectand the component comprises: determining, before or after a movement ofthe component, whether the collision is likely to occur between thesubject and the component.
 18. The method of claim 15, furthercomprising: determining one or more parameters associated with theupdated trajectory of the component, the one or more parametersincluding at least one of a velocity, a moving direction, a position, oran accelerated velocity.
 19. The method of claim 15, wherein updatingthe initial trajectory of the component to determine the updatedtrajectory of the component comprises: updating at least one of theplurality of initial positions of the component in the initialtrajectory of the component.
 20. A non-transitory computer readablemedium embodying a computer program product, the computer programproduct comprising instructions configured to cause a computing systemto: obtain an initial trajectory of a component of a medical device,wherein the initial trajectory of the component includes a plurality ofinitial positions, at least one of the plurality of initial positions ofthe component and a center of region of interest of a subject arearranged at an initial distance, and an isocenter being configured to bealigned with the center of region of interest of the subject; and foreach of the plurality of initial positions, determine whether acollision is likely to occur between the subject and the componentaccording to the initial trajectory of the component, and in response tothe determination that the collision is likely to occur between thesubject and the component, update the initial trajectory of thecomponent to adjust the initial distance and an initial orientation ofthe component in the initial trajectory of the component to determine anupdated trajectory of the component.